EP2351947B1 - Getriebevorrichtung - Google Patents

Getriebevorrichtung Download PDF

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Publication number
EP2351947B1
EP2351947B1 EP09821888.6A EP09821888A EP2351947B1 EP 2351947 B1 EP2351947 B1 EP 2351947B1 EP 09821888 A EP09821888 A EP 09821888A EP 2351947 B1 EP2351947 B1 EP 2351947B1
Authority
EP
European Patent Office
Prior art keywords
gear
motor
gear transmission
internal gear
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP09821888.6A
Other languages
English (en)
French (fr)
Other versions
EP2351947A1 (de
EP2351947A4 (de
Inventor
Hongyou Wang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
Original Assignee
Nabtesco Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Publication of EP2351947A1 publication Critical patent/EP2351947A1/de
Publication of EP2351947A4 publication Critical patent/EP2351947A4/de
Application granted granted Critical
Publication of EP2351947B1 publication Critical patent/EP2351947B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator

Definitions

  • This application relates to a gear transmission.
  • this application relates to an eccentric oscillating-type gear transmission that eccentrically rotates an internal gear.
  • a gear transmission comprising an external gear and an internal gear is disclosed in Japanese Patent Publication No. 02-107846 .
  • Japanese Patent Publication No. 02-107846 will be called Patent Document 1.
  • the external gear is supported on a casing.
  • the internal gear eccentrically rotates while meshing with the external gear.
  • An engagement hole is formed in the internal gear.
  • the engagement hole engages with an eccentric body of a crankshaft. Torque from a motor is transmitted to the crankshaft. When the crankshaft rotates, the internal gear eccentrically rotates, and the external gear rotates relative to the casing.
  • the gear transmission and the motor are disposed in series in the axial direction of the gear transmission. Consequently, the overall length of the device that includes the gear transmission and the motor is lengthened.
  • a device that includes the gear transmission and the motor may simply be called the "gear transmission”.
  • the device that includes the gear transmission and the motor may be called a "motor-containing gear transmission ". It is preferable for the motor-containing gear transmission to have a shorter overall length. If the motor is simply disposed on the outside in the radial direction of the gear transmission, the motor-containing gear transmission will become longer in the radial direction. It is preferable for the motor-containing gear transmission to also be shorter in the radial direction.
  • the "radial direction" of the gear transmission means the direction perpendicular to the axial direction of the gear transmission.
  • the present specification teaches techniques for realizing a gear transmission that devises the position of the motor such that the overall length is shortened and the length in the radial direction is also shortened.
  • the shape of the outer periphery of the internal gear is not circular. Since the internal gear eccentrically rotates, the internal gear must be engaged with an eccentric body of a crankshaft. Space for an engagement hole that engages with the eccentric body needs to be maintained in a portion of the internal gear. Consequently, the length of the internal gear in the radial direction from the center to the outer periphery of the internal gear is not constant; the length of one portion is longer than the length of other portions. The length in the radial direction from the center to the outer periphery of the internal gear is short at the portion in which the engagement hole is not formed.
  • the internal gear is thicker in the radial direction at the portion in which the engagement hole is formed, and the internal gear is thinner in the radial direction at the portion in which the engagement hole is not formed.
  • a recess is formed in the outer peripheral side of the internal gear.
  • an inside wall of a casing protrudes into that recess.
  • a bolt hole, etc. for affixing the casing is formed in the portion where the inside wall of the casing protrudes.
  • the inventor focused on the shape of the outer periphery of the internal gear.
  • a recess in which a portion of a motor is disposed, is formed on the outer peripheral side of the internal gear.
  • at least a portion of the motor is disposed within that recess.
  • This gear transmission comprises an external gear and the internal gear that rotates eccentrically relative to the external gear while meshing with the external gear.
  • At least one first recess is formed on an outer peripheral side of the internal gear so that a portion of a motor is disposed within the first recess.
  • the gear transmission it is not necessary to dispose the gear transmission and the motor in series in the axial direction of the gear transmission.
  • the overall length (the length in the axial direction) of the motor-containing gear transmission can be shortened. At least a portion of the motor can be disposed within the first recess. Consequently, as compared to the configuration in which the motor is disposed on the outside in the radial direction of the gear transmission, the length in the radial direction of the motor-containing gear transmission can be shortened in the above-mentioned gear transmission. Therefore, the above-mentioned gear transmission can reduce the size the device that includes the motor as compared to the conventional gear transmission.
  • an axis of the motor may pass through the first recess.
  • one-half or more of the diameter of the motor (the length of the motor in the radial direction) is disposed within the first recess. Consequently, the size of the motor-containing gear transmission can be sufficiently reduced in the radial direction of the gear transmission.
  • the motor may be disposed within a casing of the gear transmission. The length in the radial direction of the gear transmission including the motor becomes equal to the length in the radial direction of a gear transmission that does not include a motor. The size of the motor-containing gear transmission in the radial direction of the gear transmission can be further reduced.
  • the size of the motor-containing gear transmission can be made smaller. However, the required amount of torque might not be obtained when using the small-sized motor. If a plurality of motors is provided, the required amount of torque can be obtained even when using the small-sized motors. Further, if a plurality of crankshafts is provided, the internal gear can be made to eccentrically rotate in a stable manner. Consequently, a plurality of first recesses may be formed in the gear transmission along the circumferential direction of the outer peripheral side of the internal gear. Further, the gear transmission may comprise a crankshaft that eccentrically rotates the internal gear and passes through the internal gear at a position between two adjacent first recesses.
  • crankshafts may transmit torque to one crankshaft.
  • crankshafts may be present, via which torque is not transmitted from the motor(s). In this case, the crankshafts, via which torque is not transmitted from the motor(s), contribute to stabilizing the rotational balance of the internal gear by rotating in a manner that is dependent upon the eccentric rotation of the internal gear.
  • At least one second recess may be formed on an inside wall of the casing of the gear transmission, and at least a portion of a crankshaft may pass through the second recess.
  • the engagement hole for engaging with the eccentric body of the crankshaft is formed in the internal gear.
  • the length of the internal gear in the radial direction from the center to the outer periphery of the internal gear at the portion(s) thereof, in which an engagement hole is formed, is longer than other portions so that space(s) for the engagement hole(s) can be maintained. If a second recess is formed on the inside wall of the casing, and at least a portion of a crankshaft passes through the second recess, the size of the gear transmission in the radial direction can be further reduced.
  • each of the plurality of crankshafts may respectively extend through the internal gear at a position between two adjacent first recesses, and each motor may be respectively disposed within one first recess.
  • Each of the motors may transmit torque to one respective crankshaft. According to this configuration, the number of crankshafts and motors is equal. Consequently, the torque from the motors can be evenly transmitted to all the crankshafts. The rotational balance of the gear transmission improves.
  • the length of the motor may be less than or equal to the length of the gear transmission in the axial direction of the gear transmission.
  • the motor can be disposed between imaginary surfaces extending from both end surfaces in the axial direction of the gear transmission.
  • the length in the axial direction of the gear transmission that includes the motor can be made equal to the length in the axial direction of a gear transmission that does not include a motor.
  • the gear transmission comprises a casing, an external gear, an internal gear and a crankshaft.
  • the external gear is rotatably supported in the casing.
  • the crankshaft is rotatably supported in the casing and comprises an eccentric body and an input gear. Torque from a motor is transmitted to the input gear of the crankshaft.
  • An engagement hole extending alongside the axis of the gear transmission is formed in the internal gear. The engagement hole engages with the eccentric body of the crankshaft.
  • the internal gear meshes with the external gear. When the crankshaft rotates, the internal gear eccentrically rotates while meshing with the external gear.
  • a first recess is formed in the outer periphery of the internal gear. At least a portion of the motor is disposed within the first recess. The motor is affixed to the casing outward of the internal gear.
  • Fig. 1 and Fig. 2 show cross-sectional views of a motor-containing gear transmission 100.
  • Fig. 1 shows a cross-sectional view along axis 50 of the motor-containing gear transmission 100.
  • Fig. 2 shows a cross-sectional view of a plane perpendicular to the axis 50 of the motor-containing gear transmission 100.
  • Fig. 2 is a cross-sectional view along line II-II of Fig. 1
  • Fig. 1 is a cross-sectional view along line I-I of Fig. 2 .
  • Fig. 3 shows an exterior view of the motor-containing gear transmission 100 observed from the direction of arrow III of Fig. 1 .
  • reference number 60 of Fig. 2 indicates the center of an internal gear 12 described below.
  • the motor-containing gear transmission 100 comprises a gear transmission 110 and a plurality of motors 2.
  • the gear transmission 110 comprises a casing 18, a carrier 8, an external gear 10, crankshafts 14 and the internal gear 12. Since the gear transmission 110 and the motor-containing gear transmission 100 are coaxial, in the following description the axis 50 may be called the axis 50 of the gear transmission 110.
  • the carrier 8 is rotatably supported on the casing 18 by a pair of tapered roller bearings 6.
  • the external gear 10 is affixed to the carrier 8. Consequently, the external gear 10 can be said to be rotatably supported on the casing 18.
  • crankshafts 14 are each rotatably supported on the casing 18 by a deep groove ball bearing 16 and a cylindrical roller bearing 20.
  • An eccentric body 22 is formed on the crankshaft 14.
  • an input gear 26 is affixed to the crankshaft 14.
  • the motors 2 are affixed to the casing 18.
  • a plurality of engagement holes 66 is formed along the circumferential direction of the outer peripheral side of the internal gear 12.
  • the engagement holes 66 are formed in positions offset from the center 60 of the internal gear 12.
  • the eccentric bodies 22 engage with the engagement holes 66 via needle roller bearings 24.
  • the eccentric bodies 22 are formed on the crankshafts 14, and the eccentric bodies 22 engage with the engagement holes 66.
  • the crankshafts 14 pass through the internal gear 12, it can also be said that the crankshafts 14 engage with the engagement holes 66 of the internal gear 12. Consequently, the internal gear 12 can be said to be supported on the casing 18 via the crankshafts 14.
  • the thickness of the internal gear 12 in the radial direction is not constant. In other words, the length of the internal gear 12 in the radial direction from the center 60 to the outer periphery is not constant.
  • a plurality of positions on the internal gear 12 are formed to be thicker in the radial direction.
  • the lengths at three positions in the radial direction from the center 60 to the outer periphery of the internal gear 12 are longer than at other portions. Consequently, portions of the outer periphery of the internal gear 12 protrude outwardly in the radial direction at the plurality of positions.
  • the engagement holes 66 are formed substantially equidistantly along the circumferential direction of the internal gear 12.
  • the eccentric bodies 22 engage with the engagement holes 66.
  • the crankshafts 14 can also be said to be disposed substantially equidistantly along the circumferential direction of the internal gear 12.
  • the crankshafts 14 can also be said to pass through the internal gear 12 at the engagement holes 66.
  • Reference number 64 of Fig. 2 indicates an imaginary outer periphery line, which corresponds to the case that the thickness of the internal gear 12 in the radial direction is constant, i.e., the case that the outer periphery of the internal gear 12 is circular. If the imaginary outer periphery line 64 is considered to be the intrinsic outer periphery of the internal gear 12, portions of the actual outer periphery of the internal gear 12 are recessed toward the center 60 of the internal gear.
  • Each area enclosed by the imaginary outer periphery line 64 of the internal gear 12 and the actual outer periphery of the internal gear 12 can be considered to be a recess 62 in the outer periphery of the internal gear 12. Consequently, it can be considered that three recesses 62 are formed in the internal gear 12.
  • the crankshafts 14 pass through the internal gear 12 at the engagement holes 66. Consequently, it can be said that the crankshafts 14 pass through the internal gear 12 between adjacent recesses 62.
  • the recess 62 is an example of a first recess.
  • a plurality of inner pins 28 is attached to an inner peripheral surface of the internal gear 12. The inner pins 28 mesh with the external gear 10.
  • each motor 2 is disposed within the respective recesses 62 of the internal gear 12. More precisely, an axis 52 of the motor 2 passes through the recess 62 of the internal gear 12. In other words, the motors 2 protrude into the recesses 62 from the outside of the internal gear 12. Furthermore, in the motor-containing gear transmission 100, the outer periphery of the motors 2 is disposed inside the casing 18. Therefore, the motors 2 are covered by the casing 18. Consequently, when the motors 2 are attached to the gear transmission 110, the outer diameter of the motor-containing gear transmission 100 is equal to the outer diameter of the gear transmission 110 prior to the attachment of the motors 2.
  • the length in the radial direction of the motor-containing gear transmission 100 is equal to the length in the radial direction of the gear transmission 110.
  • the length of the motors 2 in the direction of the axis 52 is shorter than the length L110 of the gear transmission 110 in the direction of the axis 50.
  • the motors 2 are disposed between imaginary surfaces extending from both end surfaces in the direction of the axis 50 of the gear transmission 110. Consequently, the length of the motor-containing gear transmission 100 in the direction of the axis 50 is equal to the length of the gear transmission 110 in the direction of the axis 50.
  • the gear transmission 110 makes possible a reduction of the size of the motor-containing gear transmission as compared to the conventional gear transmission.
  • a plurality of recesses 68 is formed in the inner peripheral surface of the casing 18, i.e., in the inside wall of the casing 18. Three recesses 68 are formed in the gear transmission 110.
  • the recess 68 is an example of a second recess.
  • the portions of the internal gear 12, in which the engagement holes 66 are formed, are disposed in the recesses 68.
  • a portion of the crankshaft 14 passes through the recess 68 of the casing 18. Consequently, the imaginary outer periphery line 64 of the internal gear 12 overlaps with the casing 18.
  • the recesses 68 were not formed in the casing 18, the casing 18 would need to be disposed outside the imaginary outer periphery line 64.
  • the length of the gear transmission 110 in the radial direction would increase. Since the recesses 68 are formed in the casing 18, and the portions of the internal gear 12 are disposed in the recesses 68, the length of the gear transmission 110 in the radial direction can be made extremely short.
  • the eccentric bodies 22 formed on the crankshafts 14 are engaged with the engagement holes 66. Consequently, when the crankshafts 14 rotate, the eccentric bodies 22 eccentrically rotate, and the internal gear 12 eccentrically rotates about the axis 50.
  • the number of teeth of the internal gear 12 (the number of inner pins 28) differs from the number of external teeth of the external gear 10. Consequently, when the internal gear 12 rotates eccentrically, the external gear 10 and the internal gear 12 rotate relative to one another.
  • the carrier 8 is affixed to the external gear 10 and the internal gear 12 is supported on the casing 18. Consequently, when the crankshafts 14 rotate, the carrier 8 rotates relative to the casing 18.
  • an output gear 32 is affixed to an output shaft 30 of each of the motors 2.
  • Each of the output gears 32 meshes with the input gear 26 of the respective crankshaft 14. The same amount of torque is transmitted to each of the plurality of crankshafts 14.
  • one motor 2 is respectively disposed within each recess 62.
  • the number of motors 2 and the number of crankshafts 14 is equal.
  • the crankshafts 14 are disposed substantially equidistantly along the circumferential direction of the internal gear 12. Consequently, the internal gear 12 rotates in a well-balanced manner.
  • each of the input gears 26 meshes with one respective output gear 32 of the motors 2.
  • two or more output gears 32 may mesh with one input gear 26. In this case, a large torque can be transmitted to the crankshafts 14.
  • the input gear 26 may be affixed, at the least, to one crankshaft 14.
  • the motor(s) 2 transmit(s) torque only to the crankshaft 14 that has been affixed to the input gear 26. Since the number of input gears 26 can be reduced, the number of parts of the gear transmission can be reduced.
  • the shape of the outer periphery of the internal gear 12 was described with reference to the recesses 62.
  • the shape of the outer periphery of the internal gear 12 may be described with reference to projections for maintaining space for the engagement holes 66.
  • the feature of the gear transmission 110 of the embodiment may alternatively be described as follows: a plurality of projections for maintaining spaces for the engagement holes 66 are formed along the circumferential direction on the outer peripheral side of the internal gear 12.
  • the motors 2 may be affixed to the casing 18 such that a portion of each motors 2 overlaps with the respective projections along the circumferential direction of the internal gear 12.
  • the motor-containing gear transmission 100 comprises the plurality of motors 2 and the plurality of recesses 62 (first recesses). A portion of each motor 2 is disposed in each respective recess 62.
  • the present invention is also suitable for being applied to a motor-containing gear transmission that has only one motor and one first recess. In that case, a portion of the one motor may be disposed in the one recess.
  • the motor-containing gear transmission taught in the present specification may comprise at least one motor and at least one first recess, and a portion of the at least one motor may be disposed in the at least one recess.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Claims (8)

  1. Ein motoraufweisendes Zahnradgetriebe (100) mit:
    einem Außenzahnrad (10);
    einem Innenzahnrad (12), das sich bezüglich des Außenzahnrades (10) exzentrisch dreht, während es mit dem Außenzahnrad (10) kämmt, und mehrere erste Vertiefungen (62) aufweist, die entlang der Umfangsrichtung einer Außenumfangsseite des Innenzahnrades (12) ausgebildet sind; und
    mehreren Kurbelwellen (14), die das Innenzahnrad (12) exzentrisch um eine Achse (50) des Getriebes (100) drehen, wobei sich jede der Kurbelwellen (14) an einer Position zwischen zwei benachbarten ersten Vertiefungen (62) durch das Innenzahnrad (12) erstreckt;
    gekennzeichnet durch
    mehrere Motoren (2), die jeweils einen innerhalb der ersten Vertiefungen (62) angeordneten Abschnitt aufweisen,
    wobei die Anzahl der Motoren (2) der Anzahl der Kurbelwellen (14) gleicht.
  2. Motoraufweisendes Zahnradgetriebe (100) nach Anspruch 1, wobei eine Achse (52) des Motors (2) sich durch die erste Vertiefung (62) erstreckt.
  3. Motoraufweisendes Zahnradgetriebe (100) nach Anspruch 2, wobei der Motor (2) in einem Gehäuse (18) des Zahnradgetriebes (100) angeordnet ist.
  4. Motoraufweisendes Zahnradgetriebe (100) nach den Ansprüchen 1 bis 3, wobei mindestens eine zweite Vertiefung (68) auf einer Innenwand des Gehäuses (18) des Zahnradgetriebes (100) ausgebildet ist, und wobei mindestens ein Teil der Kurbelwelle (14) sich durch die zweite Vertiefung (68) erstreckt.
  5. Motoraufweisendes Zahnradgetriebe (100) nach Anspruch 4, wobei
    jede der mehreren Kurbelwellen (14) sich an einer jeweiligen Position zwischen zwei benachbarten ersten Vertiefungen (62) durch das Innenzahnrad (12) erstreckt;
    jeder Motor (2) innerhalb einer entsprechenden ersten Vertiefung (62) angeordnet ist; und
    jeder Motor (2) ein Drehmoment an eine entsprechende Kurbelwelle (14) überträgt.
  6. Motoraufweisendes Zahnradgetriebe (100) nach Anspruch 5, wobei
    ein Abtriebszahnrad (32) an einer Ausgangswelle (30) jedes der Motoren (2) befestigt ist,
    ein Eingangszahnrad (26) an jeder der Kurbelwellen (14) befestigt ist, und
    jedes der Abtriebszahnräder (32) mit dem Eingangszahnrad (26) der entsprechenden Kurbelwelle (14) kämmt.
  7. Motoraufweisendes Zahnradgetriebe (100) nach Anspruch 5 oder 6, wobei die Kurbelwellen (14) entlang der Umfangsrichtung des Innenzahnrades (12) im Wesentlichen gleichmäßig beabstandet sind.
  8. Motoraufweisendes Zahnradgetriebe (100) nach einem der Ansprüche 1 bis 7, wobei in der axialen Richtung des Zahnradgetriebes (100) die Länge des Motors (2) kleiner oder gleich der Länge des Zahnradgetriebes (100) ist.
EP09821888.6A 2008-10-20 2009-09-10 Getriebevorrichtung Not-in-force EP2351947B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008269476A JP5297756B2 (ja) 2008-10-20 2008-10-20 歯車伝動装置
PCT/JP2009/065798 WO2010047189A1 (ja) 2008-10-20 2009-09-10 歯車伝動装置

Publications (3)

Publication Number Publication Date
EP2351947A1 EP2351947A1 (de) 2011-08-03
EP2351947A4 EP2351947A4 (de) 2012-04-18
EP2351947B1 true EP2351947B1 (de) 2013-08-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP09821888.6A Not-in-force EP2351947B1 (de) 2008-10-20 2009-09-10 Getriebevorrichtung

Country Status (5)

Country Link
US (1) US8568263B2 (de)
EP (1) EP2351947B1 (de)
JP (1) JP5297756B2 (de)
CN (1) CN102187121B (de)
WO (1) WO2010047189A1 (de)

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Publication number Priority date Publication date Assignee Title
JP5297756B2 (ja) * 2008-10-20 2013-09-25 ナブテスコ株式会社 歯車伝動装置
EP2784347A1 (de) * 2013-03-25 2014-10-01 Spinea s.r.o. Getriebe
JP6147607B2 (ja) * 2013-08-09 2017-06-14 ナブテスコ株式会社 歯車伝動装置
US20150288249A1 (en) * 2014-04-03 2015-10-08 Schaeffler Technologies AG & Co. KG Eccentric motor
CN104389734B (zh) * 2014-09-18 2016-09-14 武汉理工大学 一种外转子非圆锥齿轮液压马达
JP6624938B2 (ja) * 2016-01-13 2019-12-25 ナブテスコ株式会社 ギア装置及び出力ギア板
JP6878036B2 (ja) * 2017-02-10 2021-05-26 住友重機械工業株式会社 偏心揺動型の歯車装置
CN107654586B (zh) * 2017-10-10 2019-10-08 深圳先进技术研究院 中空型内摆线行星减速器
CN107676433B (zh) * 2017-10-10 2019-10-08 深圳先进技术研究院 一种中空无针齿的内摆线行星减速器
CN107676432B (zh) * 2017-10-10 2019-12-13 深圳先进技术研究院 一种内摆线行星减速器

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JPS63103035U (de) * 1986-12-25 1988-07-04
JPH0241748U (de) * 1988-09-14 1990-03-22
JP2607937B2 (ja) * 1988-10-17 1997-05-07 住友重機械工業株式会社 内歯揺動型内接噛合遊星歯車装置
JP4755357B2 (ja) * 2001-04-18 2011-08-24 ナブテスコ株式会社 減速機
JP2004286044A (ja) * 2003-03-19 2004-10-14 Sumitomo Heavy Ind Ltd 内歯揺動型内接噛合遊星歯車装置
JP4312484B2 (ja) 2003-03-26 2009-08-12 住友重機械工業株式会社 揺動内接噛合型遊星歯車装置
JP4267950B2 (ja) * 2003-03-28 2009-05-27 住友重機械工業株式会社 内歯揺動型内接噛合遊星歯車装置
US8061262B2 (en) * 2005-08-09 2011-11-22 The Johns Hopkins University Pneumatic stepper motor
JP2008269476A (ja) 2007-04-24 2008-11-06 Canon Inc 情報処理装置、情報処理方法及び情報処理システム
JP5297756B2 (ja) * 2008-10-20 2013-09-25 ナブテスコ株式会社 歯車伝動装置

Also Published As

Publication number Publication date
US20110207576A1 (en) 2011-08-25
CN102187121A (zh) 2011-09-14
CN102187121B (zh) 2016-08-10
EP2351947A1 (de) 2011-08-03
JP5297756B2 (ja) 2013-09-25
US8568263B2 (en) 2013-10-29
WO2010047189A1 (ja) 2010-04-29
JP2010096319A (ja) 2010-04-30
EP2351947A4 (de) 2012-04-18

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